mirror of
https://github.com/digistump/DigistumpArduino.git
synced 2025-09-17 17:32:25 -07:00
added updated tinypinchange and associated libraries to support PRO
This commit is contained in:
Erik Tylek Kettenburg
@@ -0,0 +1,111 @@
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/*
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English: by RC Navy (2012)
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=======
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<SoftRcPulseIn>: an asynchronous library to read Input Pulse Width from standard Hobby Radio-Control. This library is a non-blocking version of pulseIn().
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http://p.loussouarn.free.fr
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Francais: par RC Navy (2012)
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========
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<SoftRcPulseIn>: une librairie asynchrone pour lire les largeur d'impulsions des Radio-Commandes standards. Cette librairie est une version non bloquante de pulsIn().
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http://p.loussouarn.free.fr
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*/
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#include "SoftRcPulseIn.h"
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#define LIB_VERSION 1
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#define LIB_REVISION 0
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#define STR(s) #s
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#define MAKE_TEXT_VER_REV(Ver,Rev) STR(Ver)"."STR(Rev)
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#define LIB_TEXT_VERSION_REVISION MAKE_TEXT_VER_REV(LIB_VERSION,LIB_REVISION) /* Make Full version as a string "Ver.Rev" */
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SoftRcPulseIn *SoftRcPulseIn::first;
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SoftRcPulseIn::SoftRcPulseIn(void)
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{
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}
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uint8_t SoftRcPulseIn::attach(uint8_t Pin, uint16_t PulseMin_us/*=600*/, uint16_t PulseMax_us/*=2400*/)
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{
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uint8_t Ret=0;
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_Pin=Pin;
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_PinMask=TinyPinChange_PinToMsk(Pin);
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_Min_us=PulseMin_us;
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_Max_us=PulseMax_us;
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next = first;
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first = this;
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pinMode(_Pin,INPUT);
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digitalWrite(_Pin, HIGH);
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_VirtualPortIdx=TinyPinChange_RegisterIsr(_Pin,SoftRcPulseIn::SoftRcPulseInInterrupt);
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if(_VirtualPortIdx>=0)
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{
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TinyPinChange_EnablePin(_Pin);
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Ret=1;
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}
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return(Ret);
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}
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int SoftRcPulseIn::LibVersion(void)
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{
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return(LIB_VERSION);
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}
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int SoftRcPulseIn::LibRevision(void)
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{
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return(LIB_REVISION);
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}
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char *SoftRcPulseIn::LibTextVersionRevision(void)
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{
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return(LIB_TEXT_VERSION_REVISION);
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}
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uint8_t SoftRcPulseIn::available(void)
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{
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boolean Ret=0;
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uint16_t PulseWidth_us;
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if(_Available)
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{
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noInterrupts();
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PulseWidth_us=_Width_us;
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interrupts();
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Ret=_Available && (PulseWidth_us>=_Min_us) && (PulseWidth_us<=_Max_us);
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_Available=0;
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}
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return(Ret);
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}
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uint16_t SoftRcPulseIn::width_us(void)
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{
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uint16_t PulseWidth_us;
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noInterrupts();
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PulseWidth_us=_Width_us;
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interrupts();
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return(PulseWidth_us);
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}
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void SoftRcPulseIn::SoftRcPulseInInterrupt(void)
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{
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SoftRcPulseIn *RcPulseIn;
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for ( RcPulseIn = first; RcPulseIn != 0; RcPulseIn = RcPulseIn->next )
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{
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if(TinyPinChange_GetPortEvent(RcPulseIn->_VirtualPortIdx)&RcPulseIn->_PinMask)
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{
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if(digitalRead(RcPulseIn->_Pin))
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{
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/* High level, rising edge: start chrono */
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RcPulseIn->_Start_us=micros();
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}
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else
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{
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/* Low level, falling edge: stop chrono */
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RcPulseIn->_Width_us=micros()-RcPulseIn->_Start_us;
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RcPulseIn->_Available=1;
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}
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}
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}
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}
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@@ -0,0 +1,58 @@
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/*
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English: by RC Navy (2012)
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=======
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<SoftRcPulseIn>: an asynchronous library to read Input Pulse Width from standard Hobby Radio-Control. This library is a non-blocking version of pulseIn().
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http://p.loussouarn.free.fr
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Francais: par RC Navy (2012)
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========
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<SoftRcPulseIn>: une librairie asynchrone pour lire les largeur d'impulsions des Radio-Commandes standards. Cette librairie est une version non bloquante de pulsIn().
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http://p.loussouarn.free.fr
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*/
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#ifndef SOFT_RC_PULSE_IN_H
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#define SOFT_RC_PULSE_IN_H
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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#include <TinyPinChange.h>
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#include <inttypes.h>
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class SoftRcPulseIn
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{
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public:
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SoftRcPulseIn();
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static int LibVersion(void);
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static int LibRevision(void);
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static char *LibTextVersionRevision(void);
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static void SoftRcPulseInInterrupt(void);
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uint8_t attach(uint8_t Pin, uint16_t PulseMin_us=600, uint16_t PulseMax_us=2400);
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boolean available();
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uint16_t width_us();
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private:
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class SoftRcPulseIn *next;
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static SoftRcPulseIn *first;
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uint8_t _Pin;
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uint8_t _PinMask;
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uint8_t _VirtualPortIdx;
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uint16_t _Min_us;
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uint16_t _Max_us;
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uint32_t _Start_us;
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uint32_t _Width_us;
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boolean _Available;
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};
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/*******************************************************/
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/* Application Programming Interface (API) en Francais */
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/*******************************************************/
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/* Methodes en Francais English native methods */
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#define attache attach
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#define disponible available
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#define largeur_us width_us
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#endif
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@@ -0,0 +1,76 @@
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/*
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_____ ____ __ _ ____ _ _ _ _
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| __ \ / __ \ | \ | | / __ \ | | | | | | | |
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| |__| | | / \_| | . \ | | / / \ \ | | | | \ \ / /
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| _ / | | _ | |\ \| | | |__| | | | | | \ ' /
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| | \ \ | \__/ | | | \ ' | | __ | \ \/ / | |
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|_| |_| \____/ |_| \__| |_| |_| \__/ |_| 2013
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http://p.loussouarn.free.fr
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*******************************************
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* Digispark RC Debug Demo with 1 I/O *
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*******************************************
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This sketch demonstrates how to display received RC pulse width with a Digispark in the serial console of the arduino IDE.
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by using a bi-directional serial port using a single I/O.
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This approach allows to use the built-in Serial Console of the arduino IDE.
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Please, note this solution requires a native RS232 port (rare today) or a RS232/USB adapter on the development PC.
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To display properly the outputs in the IDE serial console, you have to:
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- in the arduino IDE, select "Tools->Board->Digispark 16.0mhz - NO USB (Tiny core)"
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- in the arduino IDE, select the right serial port in "Tools->Serial Port" and select the port where the debug cable is connected to.
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- in the serial console, set the right baud rate (38400 in this sketch)
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In this sketch, only Tx capabilty of SoftSerial is used.
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Hardware Wiring:
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===============
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SERIAL SINGLE I/O
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DEBUGGING CABLE
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___________________/\__________________
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/ \
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____
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.--------. | \
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| GND |--------------------------------+---o5 \
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| | 47K | | 9o |
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| | .--###--' | o4 |
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| DEBUG | 4.7K | | 8o |
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| TX_RX |-------------------###--+--|<|------o3 | ---> To regular RS232 SubD 9 pins Male of PC
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| PIN | ^ | 1N4148 | 7o | or to RS232/USB adapter
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| | | '-----------o2 |
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'--------' | | 6o |
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ATtiny85 Single | o1 /
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(Digispark) I/O |____/
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SubD 9 pins
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Female
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*/
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#include <TinyPinChange.h>
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#include <SoftRcPulseIn.h>
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#include <SoftSerial.h>
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#define RX_AUX_GEAR_PIN 0 //Choose here the pin for the RC signal
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#define DEBUG_TX_RX_PIN 1 //Adjust here your Tx/Rx debug pin (Do NOT work on Digispark PIN 5: choose another PIN)
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SoftRcPulseIn RxAuxGear; //Choose a name for your RC channel signal
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SoftSerial MyDbgSerial(DEBUG_TX_RX_PIN, DEBUG_TX_RX_PIN, true); //true allows to connect to a regular RS232 without RS232 line driver
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void setup()
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{
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RxAuxGear.attach(RX_AUX_GEAR_PIN);
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MyDbgSerial.begin(38400); //Do NOT forget to setup your terminal at 38400 (eg: arduino IDE serial monitor)
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MyDbgSerial.txMode(); //Before sending a message, switch to txMode
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MyDbgSerial.print(F("SoftRcPulseIn lib V"));MyDbgSerial.print(SoftRcPulseIn::LibTextVersionRevision());MyDbgSerial.println(F(" demo"));
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}
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void loop()
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{
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if(RxAuxGear.available())
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{
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MyDbgSerial.print(F("Pulse="));MyDbgSerial.println(RxAuxGear.width_us()); // Display Rx Pulse Width (in us)
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}
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}
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@@ -0,0 +1,28 @@
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#include <SoftRcPulseIn.h>
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#include <TinyPinChange.h>
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#define BROCHE_VOIE1 2
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SoftRcPulseIn ImpulsionVoie1;
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void setup()
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{
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#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__)
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Serial.begin(9600);
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Serial.print("SoftRcPulseIn library V");Serial.print(SoftRcPulseIn::LibTextVersionRevision());Serial.print(" demo");
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#endif
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ImpulsionVoie1.attache(BROCHE_VOIE1);
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}
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void loop()
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{
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if(ImpulsionVoie1.disponible())
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{
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#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__)
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Serial.print("Pulse=");Serial.println(ImpulsionVoie1.largeur_us());
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#endif
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}
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}
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@@ -0,0 +1,100 @@
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/*
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This sketch demonstrates how to use <SoftRcPulseIn> library to get RC pulses from a receiver and to use <SoftRcPulseOut> library to drive 2 servos.
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The first servo will follow the order, and the second one will have a reverted motion.
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Please notice this sketch is fully asynchronous: no blocking functions such as delay() or pulseIn() are used.
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Tested on arduino UNO, ATtiny84, ATtiny85 and Digispark rev2 (Model A).
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RC Navy 2013
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http://p.loussouarn.free.fr
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*/
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#include <SoftRcPulseIn.h>
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#include <SoftRcPulseOut.h>
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#include <TinyPinChange.h> /* Needed for <SoftRcPulseIn> library */
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#define RX_CHANNEL_PIN 2
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#define SERVO1_PIN 3
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#define SERVO2_PIN 4
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#define LED_PIN 1//1 on Digispark rev2 (Model A), change to pin 0 for Digispark rev1 (Model B), change to 13 for UNO
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#define LED_HALF_PERIOD_MS 250
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#define PULSE_MAX_PERIOD_MS 30 /* To refresh the servo in case of pulse extinction */
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#define NOW 1
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#define NEUTRAL_US 1500 /* Default position in case of no pulse at startup */
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enum {NORMAL=0, INVERTED, SERVO_NB}; /* Trick: use an enumeration to declare the index of the servos AND the amount of servos */
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SoftRcPulseIn RxChannelPulse; /* RxChannelPulse is an objet of SoftRcPulseIn type */
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SoftRcPulseOut ServoMotor[SERVO_NB]; /* Table Creation for 2 objets of SoftRcPulseOut type */
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/* Possible values to compute a shifting average fin order to smooth the recieved pulse witdh */
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#define AVG_WITH_1_VALUE 0
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#define AVG_WITH_2_VALUES 1
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#define AVG_WITH_4_VALUES 2
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#define AVG_WITH_8_VALUES 3
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#define AVG_WITH_16_VALUES 4
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#define AVERAGE_LEVEL AVG_WITH_4_VALUES /* Choose here the average level among the above listed values */
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/* Higher is the average level, more the system is stable (jitter suppression), but lesser is the reaction */
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/* Macro for average */
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#define AVERAGE(ValueToAverage,LastReceivedValue,AverageLevelInPowerOf2) ValueToAverage=(((ValueToAverage)*((1<<(AverageLevelInPowerOf2))-1)+(LastReceivedValue))/(1<<(AverageLevelInPowerOf2)))
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/* Variables */
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uint32_t LedStartMs=millis();
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uint32_t RxPulseStartMs=millis();
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boolean LedState=HIGH;
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void setup()
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{
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#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__)
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Serial.begin(9600);
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Serial.print("SoftRcPulseIn library V");Serial.print(SoftRcPulseIn::LibTextVersionRevision());Serial.print(" demo"); /* For arduino UNO which has an hardware UART, display the library version in the console */
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#endif
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RxChannelPulse.attach(RX_CHANNEL_PIN);
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ServoMotor[NORMAL].attach(SERVO1_PIN); /* enumeration is used a index for the ServoMotor[] table */
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ServoMotor[INVERTED].attach(SERVO2_PIN); /* enumeration is used a index for the ServoMotor[]table */
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pinMode(LED_PIN, OUTPUT);
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}
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void loop()
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{
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static uint16_t Width_us=NEUTRAL_US; /* Static to keep the value at the next loop */
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/* Receiver pulse acquisition and command of 2 servos, one in the direct direction, one in the inverted direction */
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if(RxChannelPulse.available())
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{
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AVERAGE(Width_us,RxChannelPulse.width_us(),AVERAGE_LEVEL);
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ServoMotor[NORMAL].write_us(Width_us); /* Direct Signal */
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ServoMotor[INVERTED].write_us((NEUTRAL_US*2)-Width_us); /* Inverted Signal */
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SoftRcPulseOut::refresh(NOW); /* NOW argument (=1) allows to synchronize outgoing pulses with incoming pulses */
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RxPulseStartMs=millis(); /* Restart the Chrono for Pulse */
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#if !defined(__AVR_ATtiny24__) && !defined(__AVR_ATtiny44__) && !defined(__AVR_ATtiny84__) && !defined(__AVR_ATtiny25__) && !defined(__AVR_ATtiny45__) && !defined(__AVR_ATtiny85__)
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Serial.print("Pulse=");Serial.println(Largeur_us); /* For arduino UNO which has an hardware UART, display the library version in the console */
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#endif
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}
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else
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{
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/* Check for pulse extinction */
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if(millis()-RxPulseStartMs>=PULSE_MAX_PERIOD_MS)
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{
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/* Refresh the servos with the last known position in order to avoid "flabby" servos */
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SoftRcPulseOut::refresh(NOW); /* Immediate refresh of outgoing pulses */
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RxPulseStartMs=millis(); /* Restart the Chrono for Pulse */
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}
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}
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/* Blink LED Management */
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if(millis()-LedStartMs>=LED_HALF_PERIOD_MS)
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{
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digitalWrite(LED_PIN, LedState);
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LedState=!LedState; /* At the next loop, if the half period is elapsed, the LED state will be inverted */
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LedStartMs=millis(); /* Restart the Chrono for the LED */
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}
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}
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@@ -0,0 +1,26 @@
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#######################################
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# Syntax Coloring Map SoftRcPulseIn
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#######################################
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#######################################
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# Datatypes (KEYWORD1)
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#######################################
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SoftRcPulseIn KEYWORD1
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#######################################
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# Methods and Functions (KEYWORD2)
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#######################################
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LibVersion KEYWORD2
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LibRevision KEYWORD2
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LibTextVersionRevision KEYWORD2
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attach KEYWORD2
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attache KEYWORD2
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available KEYWORD2
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disponible KEYWORD2
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width_us KEYWORD2
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largeur_us KEYWORD2
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#######################################
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# Constants (LITERAL1)
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#######################################
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